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2021 IEEE World Haptics Conference (WHC)最新文献

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Deep Multi-Modal Network Based Data-Driven Haptic Textures Modeling 基于深度多模态网络的数据驱动触觉纹理建模
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517223
Joolekha Bibi Joolee, Seokhee Jeon
{"title":"Deep Multi-Modal Network Based Data-Driven Haptic Textures Modeling","authors":"Joolekha Bibi Joolee, Seokhee Jeon","doi":"10.1109/WHC49131.2021.9517223","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517223","url":null,"abstract":"This paper presents a novel data-driven approach for haptic texture modeling using a deep multi-modal network. The network is trained using contact acceleration data that are collected when a stylus is scanned on a textured surface with diverse scanning velocities, directions, and forces, which used for recreating the acceleration profile in real-time. We present some preliminary results to demonstrate the effectiveness of the proposed approach.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117270910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Species-specific whisker morphology affects tactile interactions* 物种特有的须形态影响触觉相互作用*
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517173
R. Grant, G. Dougill, N. Lepora
{"title":"Species-specific whisker morphology affects tactile interactions*","authors":"R. Grant, G. Dougill, N. Lepora","doi":"10.1109/WHC49131.2021.9517173","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517173","url":null,"abstract":"Bio-inspired robotic whisker touch sensors exist, although the shape of the whisker is often overlooked, despite it affecting whisker mechanics and resulting whisker movements. We demonstrate here in three Carnivora species that whisker shape affects tactile interactions. We recommend that whisker shape needs to be designed specifically for a task, and suggest that this is a good area for future research.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125366414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Preliminary Assessment of a Haptic Feedback System For a Smart Walker 智能步行器触觉反馈系统的设计与初步评估
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517198
Ramón E. Sánchez Cruz, Rebecca P. Khurshid
{"title":"Design and Preliminary Assessment of a Haptic Feedback System For a Smart Walker","authors":"Ramón E. Sánchez Cruz, Rebecca P. Khurshid","doi":"10.1109/WHC49131.2021.9517198","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517198","url":null,"abstract":"This work presents the design and preliminary evaluation of a pair of haptic walker handles. The haptic handles offer both vibrotactile and skin-stretch-and-slip haptic cues. Two older adults, aged 66 and 76, participated in a pilot study to evaluate the perceptibility of the haptic cues, both while standing still and while walking. Measures of the participants’ ability to feel the haptic cues indicate that skin-stretch-and-slip cues are superior to vibrotactile cues for a smart walker to be used by older adults.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116384126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Intent-Preserving Approach to Telerobotic Rehabilitation 一种保留意图的远程机器人康复方法
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517196
Shane Forbrigger, K. Hashtrudi-Zaad
{"title":"An Intent-Preserving Approach to Telerobotic Rehabilitation","authors":"Shane Forbrigger, K. Hashtrudi-Zaad","doi":"10.1109/WHC49131.2021.9517196","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517196","url":null,"abstract":"Often the design of control systems for telerobotic rehabilitation focuses on maintaining stability and maximizing transparency, but does not consider the intent of therapeutic interactions. When therapists assist patients during therapy activities, they tailor the amount of assistance and guidance delivered so that the patient engages fully in the therapy. Existing telerobotic control systems deliver the delayed therapist force to the patient, making only minimal changes as necessary to maintain stability. However, communication time delays can distort the effect of the therapist force and lead to remote interactions that do not reflect the therapist’s intent, such as over- or under-assisting the patient. In this work, we propose a method for identifying the therapist’s intent from their applied force and the velocity of the patient. Using this understanding of intent, we propose two approaches to ensure that the therapist’s intent is preserved across the communication channel: Rotational Intent-Preserving Teleoperation (RIPT), where the delayed force from the therapist is rotated to maintain the intended amount of assistance and guidance, and scaled-RIPT, where less relevant forces are reduced. We test these approaches in simulations, finding that they can prevent unintended over-assistance from the therapist.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122438040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Evaluation of tactile friction, vibrations and the influence of finger skin moisture on grained polypropylene plates 纹理聚丙烯板触觉摩擦、振动及手指皮肤水分影响的评价
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517243
Thomas Ules, M. Grießer, K. Klimke, G. Grestenberger, D. Gruber
{"title":"Evaluation of tactile friction, vibrations and the influence of finger skin moisture on grained polypropylene plates","authors":"Thomas Ules, M. Grießer, K. Klimke, G. Grestenberger, D. Gruber","doi":"10.1109/WHC49131.2021.9517243","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517243","url":null,"abstract":"In this contribution the influence of the hydration level of human skin on the coefficient of friction and the power of mechanical vibrations elicited in the human finger is explored. To this end five polypropylene compounds with the same surface texture but slightly different material composition were investigated. The coefficient of friction and vibrations were measured simultaneously for various skin hydration levels. This allowed us to identify the moisture content of the skin as the prime determinant for the measurement results. While frictional forces rise with increasing moisture content the vibrational power declines. This is understood in terms of the different mechanical properties of moist and dry skin.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122967279","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Causal Feeling: How Kinesthetic Haptics Affects Causal Perception 因果感觉:动觉触觉如何影响因果知觉
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517133
Elyse D. Z. Chase, P. Wolff, Tobias Gerstenberg, Sean Follmer
{"title":"A Causal Feeling: How Kinesthetic Haptics Affects Causal Perception","authors":"Elyse D. Z. Chase, P. Wolff, Tobias Gerstenberg, Sean Follmer","doi":"10.1109/WHC49131.2021.9517133","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517133","url":null,"abstract":"While haptic feedback is vital to how we gather information in the world, most research on causal perception has focused on visual information. To assess how haptics affects people’s perception of causal events, we ran a psychophysical study modeled after Michotte’s launching paradigm. Participants watched trains move on the screen and judged whether one train caused the other to move, with half the trials providing 1-DoF kinesthetic haptic feedback synchronized to the motion of the second train. We manipulated the temporal offsets between when the first train stopped and the second train started. The results show that adding haptic feedback increases causal perception for events with positive offsets.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129952584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Transforming a Monolithic Sheet of Nitinol into a Passive Reconfigurable Tactile Pixel Array Display at Braille Resolution 将镍钛诺单片片转化为盲文分辨率的被动可重构触觉像素阵列显示器
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517239
Tigmanshu Bhatnagar, Nicolai Marquardt, M. Miodownik, C. Holloway
{"title":"Transforming a Monolithic Sheet of Nitinol into a Passive Reconfigurable Tactile Pixel Array Display at Braille Resolution","authors":"Tigmanshu Bhatnagar, Nicolai Marquardt, M. Miodownik, C. Holloway","doi":"10.1109/WHC49131.2021.9517239","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517239","url":null,"abstract":"Shape changing materials create a unique opportunity to design reconfigurable tactile display actuators. In this paper, we present a method that transforms a single thin monolithic sheet of Nitinol into a passive reconfigurable tactile pixel array at Braille resolution. We have designed a 27x27 tactile pixel array in which each pixel can be selectively actuated with an external source of heat. The pixels rise 0.4mm vertically with a peak blocked force of 0.28kg and have an average blocked force of 0.23kg at room temperature. After cooling, the pixels can be mechanically reconfigured back to their flat state for repeatable actuation. We demonstrate this actuator’s interactive capabilities through a novel erasable tactile drawing interface.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130307912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Reflection Pattern Sensing for Valid Airborne Ultrasound Tactile Display* 有效机载超声触觉显示的反射模式传感*
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517183
M. Fujiwara, Yuichi Someya, Yasutoshi Makino, H. Shinoda
{"title":"Reflection Pattern Sensing for Valid Airborne Ultrasound Tactile Display*","authors":"M. Fujiwara, Yuichi Someya, Yasutoshi Makino, H. Shinoda","doi":"10.1109/WHC49131.2021.9517183","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517183","url":null,"abstract":"Airborne ultrasonic tactile displays are widely used for both applied and basic research due to its unique characteristics. However, the sound field output by the display device has not been confirmed directly during operation. In this study, we propose a reflection pattern sensing method based on confocal principle for valid airborne ultrasound tactile presentation. This approach aims imaging of reflective intensity distribution on a target volume area by a transmitter array and a perimeter receiver array. We confirm that the reflection pattern can be quantitatively measured with a spatial resolution of the wavelength. This result shows that the creation of a focus can be confirmed by the position of maximum reflection intensity.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123219195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Passively Actuated Clutch for Enhanced Backdrivability in Bidirectional Kinesthetic Feedback Applications 被动驱动离合器在双向动觉反馈应用中增强反向驾驶性能
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517238
Pablo Alvarez Romeo, M. Altinsoy
{"title":"Passively Actuated Clutch for Enhanced Backdrivability in Bidirectional Kinesthetic Feedback Applications","authors":"Pablo Alvarez Romeo, M. Altinsoy","doi":"10.1109/WHC49131.2021.9517238","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517238","url":null,"abstract":"Portable and wearable force feedback devices for the hand present limitations in multiple aspects, related partially to their actuation systems. Commercial solutions commonly perform a trade-off by offering limited force feedback in the grasping motion in exchange for a lower volume, weight and complexity. However bidirectional feedback is usually discarded. In this paper, an inexpensive and compact clutch module design is presented. Passively controlled by the feedback actuator, it enables active torque transmission in both rotation directions, otherwise offering high backdrivability when unclutched. Throughout the various sections the theoretical design, the system’s operation and its characterization will be described, followed by a set of tests and finishing with an analysis of its advantages and disadvantages.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123375651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Soft Wearable Tactile Device Using Lateral Skin Stretch 一种使用侧皮肤拉伸的柔软可穿戴触觉装置
2021 IEEE World Haptics Conference (WHC) Pub Date : 2021-07-06 DOI: 10.1109/WHC49131.2021.9517185
Sylvia Tan, R. D. Roosa, R. Klatzky, M. Peshkin, J. Colgate
{"title":"A Soft Wearable Tactile Device Using Lateral Skin Stretch","authors":"Sylvia Tan, R. D. Roosa, R. Klatzky, M. Peshkin, J. Colgate","doi":"10.1109/WHC49131.2021.9517185","DOIUrl":"https://doi.org/10.1109/WHC49131.2021.9517185","url":null,"abstract":"This paper presents an initial study of a soft wearable tactile device that stimulates the finger pad via lateral forces. The device is wrapped around the finger and consists of a 4 × 4 array of pucks with a 2.6 mm pitch. Users interact with a magnet that achieves displacements of ± 56 µm. Two psychophysical experiments were conducted to explore the utility of the device. They showed that the lateral forces obtained were sufficient for the perception of angled lines, and the array-based system provided repeatable edge detection.","PeriodicalId":233442,"journal":{"name":"2021 IEEE World Haptics Conference (WHC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123377097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
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